Control method for unmanned helicopter hovering position keeping

Abstract

The invention belongs to the technical field of unmanned helicopter flight control, and relates to a control method for unmanned helicopters to maintain a given hovering position. The steps of maintaining a given position are as follows: Obtain the longitude L0 and latitude B0 of the position where the unmanned helicopter is put into position holding mode; obtain the position that the unmanned helicopter expects to maintain; from the second control cycle T2, first calculate the unmanned helicopter The expected position that needs to be maintained and the error of the current position of the unmanned helicopter; secondly, the PID control method is used to control the position of the unmanned helicopter to reach the desired position. The position keeping control method used in the invention has simple structure and high control precision, and is suitable for position keeping control when various types of unmanned helicopters hover.

Description

Control method for unmanned helicopter hovering position keeping technical field The invention belongs to the flight control technology of an unmanned helicopter, and relates to an improvement of a control method for the unmanned helicopter to maintain a given hovering position. Background technique At present, the control method of unmanned helicopter position keeping mainly adopts the control strategy of manned helicopter hovering mode in the air. See "Helicopter Flight Control", Yang Yidong, National Defense Industry Press, 2007, the main method is to control the speed of the unmanned helicopter to achieve the purpose of position keeping, and the method needs to control the speed of the unmanned helicopter as close to 0m as possible / s. Its disadvantages are mainly: 1. The accuracy of the hover position is poor. Since this method uses speed as the main control signal, any control system cannot guarantee that the speed of the unmanned helicopter reaches an accurate 0...

AI Technical Summary

Problems solved by technology

1. The accuracy of the hover position is poor

Since this method uses speed as the main control signal, any control system cannot guarantee that the speed of the unmanned helicopter reaches an accurate 0m / s, so when the unmanned helicopter is controlled to hover in the air, its position will drift due to the existence of speed , as the hovering time increases, the drift of its position may become larger and larger, and the control accuracy of the hovering point position cannot be guaranteed

2. When the unmanned helicopter hovers in the air with this method, it can only maintain the current position, but cannot hover at the desired position. If the hovering position needs to be changed, the unmanned helicopter needs to be manually operated to reach the desired position. desired hover point